HyeonseokE commited on
Commit
c92cc81
·
verified ·
1 Parent(s): 98070f8

Add files using upload-large-folder tool

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f22e67b6f961935b0e30f011a7dba1dc62f13bfb4e5017f0fa7e00bf2119bdff
3
+ size 595104
data/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb5ad1d8f6a9752e1c166c86c176bc06a1b34c0544e69a6b9741338ef68b0260
3
+ size 16155
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:666aed1190dc3eed710f3bf8d99db5a8a4b677a959ef7b527bd742feed6de7bb
3
+ size 436450
meta/episodes/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:09fe1b40a34edb246b5d87a8b48a91e97aaf15a68bd00196d5b3a6bdff1d1d76
3
+ size 52955
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 100,
5
+ "total_frames": 20895,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:100"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "names": [
34
+ "shoulder_pan.pos",
35
+ "shoulder_lift.pos",
36
+ "elbow_flex.pos",
37
+ "wrist_flex.pos",
38
+ "wrist_roll.pos",
39
+ "gripper.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
+ ]
44
+ },
45
+ "observation.images.left_wrist": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "h264",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 10,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "h264",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 10,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 309
8
+ ],
9
+ "mean": [
10
+ 104.89428092845178
11
+ ],
12
+ "std": [
13
+ 62.05598344201609
14
+ ],
15
+ "count": [
16
+ 20895
17
+ ],
18
+ "q01": [
19
+ 1.7009156269894246
20
+ ],
21
+ "q10": [
22
+ 20.479845488313874
23
+ ],
24
+ "q50": [
25
+ 104.68951903326133
26
+ ],
27
+ "q90": [
28
+ 189.1604768854596
29
+ ],
30
+ "q99": [
31
+ 208.06936051562843
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 99
40
+ ],
41
+ "mean": [
42
+ 48.97473079684135
43
+ ],
44
+ "std": [
45
+ 29.005374206310197
46
+ ],
47
+ "count": [
48
+ 20895
49
+ ],
50
+ "q01": [
51
+ 48.97473079684135
52
+ ],
53
+ "q10": [
54
+ 48.97473079684135
55
+ ],
56
+ "q50": [
57
+ 48.97473079684136
58
+ ],
59
+ "q90": [
60
+ 48.97473079684139
61
+ ],
62
+ "q99": [
63
+ 48.97473079684139
64
+ ]
65
+ },
66
+ "index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 20894
72
+ ],
73
+ "mean": [
74
+ 10495.612108159847
75
+ ],
76
+ "std": [
77
+ 6032.033705089961
78
+ ],
79
+ "count": [
80
+ 20895
81
+ ],
82
+ "q01": [
83
+ 10392.418742858385
84
+ ],
85
+ "q10": [
86
+ 10411.197672719709
87
+ ],
88
+ "q50": [
89
+ 10495.407346264657
90
+ ],
91
+ "q90": [
92
+ 10579.878304116852
93
+ ],
94
+ "q99": [
95
+ 10598.787187747024
96
+ ]
97
+ },
98
+ "observation.state": {
99
+ "min": [
100
+ -86.25204467773438,
101
+ -97.73394775390625,
102
+ -74.49118041992188,
103
+ -3.522336721420288,
104
+ -4.517704486846924,
105
+ 0.2808988690376282
106
+ ],
107
+ "max": [
108
+ 88.54337310791016,
109
+ 70.03776550292969,
110
+ 99.36680603027344,
111
+ 84.4501724243164,
112
+ 11.648351669311523,
113
+ 55.547752380371094
114
+ ],
115
+ "mean": [
116
+ 0.0335016039690637,
117
+ -14.200568322063948,
118
+ 28.201557889695543,
119
+ 43.12623414694336,
120
+ 1.5655244422689183,
121
+ 17.344350937731278
122
+ ],
123
+ "std": [
124
+ 37.42530849897202,
125
+ 45.69868158909045,
126
+ 40.7526281033243,
127
+ 19.035706454407705,
128
+ 1.1268620939693452,
129
+ 11.209954794762872
130
+ ],
131
+ "count": [
132
+ 20895
133
+ ],
134
+ "q01": [
135
+ -61.35494087179979,
136
+ -97.46294176029481,
137
+ -29.46923149007526,
138
+ 20.11934109183478,
139
+ 1.2358896179396361,
140
+ 4.303703895933692
141
+ ],
142
+ "q10": [
143
+ -50.77633418315388,
144
+ -96.89908511692823,
145
+ -16.364493576403476,
146
+ 26.09970256469218,
147
+ 1.4084733753394871,
148
+ 6.328265249129671
149
+ ],
150
+ "q50": [
151
+ -2.0015916295994804,
152
+ -3.1098545960512056,
153
+ 18.242868404907494,
154
+ 38.420419394545476,
155
+ 1.5853781927344557,
156
+ 10.109140144653171
157
+ ],
158
+ "q90": [
159
+ 55.85832321436276,
160
+ 35.546031772473256,
161
+ 98.44012772403362,
162
+ 74.84598354152872,
163
+ 1.6651262167106806,
164
+ 33.0826789521035
165
+ ],
166
+ "q99": [
167
+ 64.28433823061675,
168
+ 46.81681533994532,
169
+ 98.92095316336402,
170
+ 76.29131018475782,
171
+ 2.011211917697491,
172
+ 35.64512039123994
173
+ ]
174
+ },
175
+ "observation.images.left_wrist": {
176
+ "min": [
177
+ [
178
+ [
179
+ 0.0
180
+ ]
181
+ ],
182
+ [
183
+ [
184
+ 0.0
185
+ ]
186
+ ],
187
+ [
188
+ [
189
+ 0.0
190
+ ]
191
+ ]
192
+ ],
193
+ "max": [
194
+ [
195
+ [
196
+ 1.0
197
+ ]
198
+ ],
199
+ [
200
+ [
201
+ 1.0
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 1.0
207
+ ]
208
+ ]
209
+ ],
210
+ "mean": [
211
+ [
212
+ [
213
+ 0.5269822272671569
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 0.5298423389705881
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.5554002190359478
224
+ ]
225
+ ]
226
+ ],
227
+ "std": [
228
+ [
229
+ [
230
+ 0.005510634572878064
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.004609032721866447
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.004537520577639592
241
+ ]
242
+ ]
243
+ ],
244
+ "count": [
245
+ 10000
246
+ ],
247
+ "q01": [
248
+ [
249
+ [
250
+ 0.04980012783195101
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.06049814990320588
256
+ ]
257
+ ],
258
+ [
259
+ [
260
+ 0.09015512731927225
261
+ ]
262
+ ]
263
+ ],
264
+ "q10": [
265
+ [
266
+ [
267
+ 0.10896995599656042
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.1394848899792644
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.252828591944037
278
+ ]
279
+ ]
280
+ ],
281
+ "q50": [
282
+ [
283
+ [
284
+ 0.6184957388217931
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.6150260257091005
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.6121339618725216
295
+ ]
296
+ ]
297
+ ],
298
+ "q90": [
299
+ [
300
+ [
301
+ 0.7055387921501606
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.7010648802168423
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.6985049278874464
312
+ ]
313
+ ]
314
+ ],
315
+ "q99": [
316
+ [
317
+ [
318
+ 0.8080835440447905
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.7722388035368329
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.7932073307591212
329
+ ]
330
+ ]
331
+ ]
332
+ },
333
+ "action": {
334
+ "min": [
335
+ -87.04156494140625,
336
+ -100.0,
337
+ -77.15575408935547,
338
+ -5.253784656524658,
339
+ -6.715506553649902,
340
+ 0.0
341
+ ],
342
+ "max": [
343
+ 88.99755859375,
344
+ 69.14238739013672,
345
+ 100.0,
346
+ 84.9510269165039,
347
+ 12.380952835083008,
348
+ 56.024559020996094
349
+ ],
350
+ "mean": [
351
+ 0.03331824350824879,
352
+ -15.820810508876361,
353
+ 27.10812083544643,
354
+ 43.10398938338076,
355
+ 1.519241033883493,
356
+ 15.510727555502486
357
+ ],
358
+ "std": [
359
+ 37.42687784963121,
360
+ 45.39907305910719,
361
+ 41.61038564455665,
362
+ 19.741844615862124,
363
+ 1.136197276440772,
364
+ 13.089521553886748
365
+ ],
366
+ "count": [
367
+ 20895
368
+ ],
369
+ "q01": [
370
+ -61.48053866665818,
371
+ -98.34993728592562,
372
+ -31.525429626931476,
373
+ 18.971780532589793,
374
+ 1.2229877497967023,
375
+ 1.1079157108211752
376
+ ],
377
+ "q10": [
378
+ -50.87369711678052,
379
+ -97.38650190135,
380
+ -18.32101323950892,
381
+ 25.459382399542644,
382
+ 1.3313177151151951,
383
+ 2.167864121997059
384
+ ],
385
+ "q50": [
386
+ -2.1219809201995328,
387
+ -5.108362470080505,
388
+ 16.77113986097246,
389
+ 38.073242491720265,
390
+ 1.4775507915862751,
391
+ 8.641720909605398
392
+ ],
393
+ "q90": [
394
+ 56.029894655057724,
395
+ 33.996985981522755,
396
+ 99.15425134372337,
397
+ 76.77607265395194,
398
+ 1.7369225670087562,
399
+ 33.41555947409264
400
+ ],
401
+ "q99": [
402
+ 64.48289387758403,
403
+ 46.112913415305734,
404
+ 99.53473369302729,
405
+ 77.70234921310879,
406
+ 2.0540460748857843,
407
+ 35.96776576775538
408
+ ]
409
+ },
410
+ "observation.images.top": {
411
+ "min": [
412
+ [
413
+ [
414
+ 0.0
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.0
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.0
425
+ ]
426
+ ]
427
+ ],
428
+ "max": [
429
+ [
430
+ [
431
+ 1.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 1.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 1.0
442
+ ]
443
+ ]
444
+ ],
445
+ "mean": [
446
+ [
447
+ [
448
+ 0.4822035308823529
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.49407139460784294
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.48615013157679743
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.0031961324496830863
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.003198235295036305
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.0035675601236599794
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 10000
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ -3.921568627450984e-13
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.08652516859257355
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ 0.10713249749131089
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.20855950346041263
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.24805213625657693
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.3043398339938902
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.524307423489985
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.5218827546556231
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.49545739623460305
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.5948086148564867
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.6094613075957929
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.6261000148996594
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.7014282741751005
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.7197643311314715
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.7916510370273045
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "timestamp": {
569
+ "min": [
570
+ 0.0
571
+ ],
572
+ "max": [
573
+ 30.9
574
+ ],
575
+ "mean": [
576
+ 10.489428092845175
577
+ ],
578
+ "std": [
579
+ 6.205598344201611
580
+ ],
581
+ "count": [
582
+ 20895
583
+ ],
584
+ "q01": [
585
+ 0.17009156261038677
586
+ ],
587
+ "q10": [
588
+ 2.0479845487589574
589
+ ],
590
+ "q50": [
591
+ 10.468951903325955
592
+ ],
593
+ "q90": [
594
+ 18.91604768861827
595
+ ],
596
+ "q99": [
597
+ 20.806936051651377
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 20895
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994186e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999418e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb0694e20798a6732864a53967fade02014920783ac037d8bc8e254d7e88ff93
3
+ size 2288
videos/observation.images.left_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:686f5948c165aea720c3e5626a27454805298f64d9c73e60e06ca2f80877bb81
3
+ size 173590640
videos/observation.images.left_wrist/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bf34df65af6b258245dff9189ee26de56a5cf14de8f07de6ee944ab593412267
3
+ size 1688087
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:490ea0d3c216c49718060c0d0b459dcf8bf3663dc13b14fd777b0da69364f617
3
+ size 171166671
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:76d258196364511562e9e578bd52d1078d903995d7e4aaffb9db1a56392b2551
3
+ size 1448783